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   &#160;<span id="projectnumber">2.9.1</span>
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<p>Provides an interface to the Pioneer gripper device.  
 <a href="classArGripper.html#details">More...</a></p>

<p><code>#include &lt;ArGripper.h&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a565fcee58e47e92596e472c34f359368"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368">Type</a> { <br />
&#160;&#160;<a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368a74fbaa2ae0bcab24136ea7d6db3a7897">QUERYTYPE</a>, 
<a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368a2ecbc5944c1ea48a2f9676793ca96243">GENIO</a>, 
<a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368a2aa4f32bf4b551947ea158e00e8be4f2">USERIO</a>, 
<a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368a689386fc14c0c100e52a01b494e843e0">GRIPPAC</a>, 
<br />
&#160;&#160;<a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368ae1f5be72993ec3d941480086a6948e57">NOGRIPPER</a>
<br />
 }<tr class="memdesc:a565fcee58e47e92596e472c34f359368"><td class="mdescLeft">&#160;</td><td class="mdescRight">These are the types for the gripper.  <a href="classArGripper.html#a565fcee58e47e92596e472c34f359368">More...</a><br /></td></tr>
</td></tr>
<tr class="separator:a565fcee58e47e92596e472c34f359368"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a363fc3f41b9415c12e544ca9f58a6a94"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a363fc3f41b9415c12e544ca9f58a6a94">ArGripper</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot, int gripperType=<a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368a74fbaa2ae0bcab24136ea7d6db3a7897">QUERYTYPE</a>)</td></tr>
<tr class="memdesc:a363fc3f41b9415c12e544ca9f58a6a94"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a363fc3f41b9415c12e544ca9f58a6a94">More...</a><br /></td></tr>
<tr class="separator:a363fc3f41b9415c12e544ca9f58a6a94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ff9533dfd66d035e884785cb1d6663a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3ff9533dfd66d035e884785cb1d6663a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a3ff9533dfd66d035e884785cb1d6663a">connectHandler</a> (void)</td></tr>
<tr class="memdesc:a3ff9533dfd66d035e884785cb1d6663a"><td class="mdescLeft">&#160;</td><td class="mdescRight">The handler for when the robot connects. <br /></td></tr>
<tr class="separator:a3ff9533dfd66d035e884785cb1d6663a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a42c7e00b7ade6fe884554b988016da8a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a42c7e00b7ade6fe884554b988016da8a">getBreakBeamState</a> (void) const </td></tr>
<tr class="memdesc:a42c7e00b7ade6fe884554b988016da8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the state of the gripper's breakbeams.  <a href="#a42c7e00b7ade6fe884554b988016da8a">More...</a><br /></td></tr>
<tr class="separator:a42c7e00b7ade6fe884554b988016da8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac4a100f5a0a833c5c9fc3c0db7e2fc51"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#ac4a100f5a0a833c5c9fc3c0db7e2fc51">getGraspTime</a> (void) const </td></tr>
<tr class="memdesc:ac4a100f5a0a833c5c9fc3c0db7e2fc51"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the grasp time.  <a href="#ac4a100f5a0a833c5c9fc3c0db7e2fc51">More...</a><br /></td></tr>
<tr class="separator:ac4a100f5a0a833c5c9fc3c0db7e2fc51"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb9037f8fa675e74250f1e3dc7243a3e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#afb9037f8fa675e74250f1e3dc7243a3e">getGripState</a> (void) const </td></tr>
<tr class="memdesc:afb9037f8fa675e74250f1e3dc7243a3e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the state of the gripper paddles.  <a href="#afb9037f8fa675e74250f1e3dc7243a3e">More...</a><br /></td></tr>
<tr class="separator:afb9037f8fa675e74250f1e3dc7243a3e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a953cc90c80ce837cdbe148ef2132dbe9"><td class="memItemLeft" align="right" valign="top">long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a953cc90c80ce837cdbe148ef2132dbe9">getMSecSinceLastPacket</a> (void) const </td></tr>
<tr class="memdesc:a953cc90c80ce837cdbe148ef2132dbe9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the number of mSec since the last gripper packet.  <a href="#a953cc90c80ce837cdbe148ef2132dbe9">More...</a><br /></td></tr>
<tr class="separator:a953cc90c80ce837cdbe148ef2132dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aecb3c4dce997079ec91492f5759e17f4"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#aecb3c4dce997079ec91492f5759e17f4">getPaddleState</a> (void) const </td></tr>
<tr class="memdesc:aecb3c4dce997079ec91492f5759e17f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the state of each gripper paddle.  <a href="#aecb3c4dce997079ec91492f5759e17f4">More...</a><br /></td></tr>
<tr class="separator:aecb3c4dce997079ec91492f5759e17f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e162a9ba0ad2351c63bf5b4d35dba8c"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a8e162a9ba0ad2351c63bf5b4d35dba8c">getType</a> (void) const </td></tr>
<tr class="memdesc:a8e162a9ba0ad2351c63bf5b4d35dba8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the type of the gripper.  <a href="#a8e162a9ba0ad2351c63bf5b4d35dba8c">More...</a><br /></td></tr>
<tr class="separator:a8e162a9ba0ad2351c63bf5b4d35dba8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a014f7e6e13625a748cfbded1c3c9a7fe"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a014f7e6e13625a748cfbded1c3c9a7fe">gripClose</a> (void)</td></tr>
<tr class="memdesc:a014f7e6e13625a748cfbded1c3c9a7fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Closes the gripper paddles.  <a href="#a014f7e6e13625a748cfbded1c3c9a7fe">More...</a><br /></td></tr>
<tr class="separator:a014f7e6e13625a748cfbded1c3c9a7fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a23c923a8c98cb11bc3575079f8bf76ea"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a23c923a8c98cb11bc3575079f8bf76ea">gripOpen</a> (void)</td></tr>
<tr class="memdesc:a23c923a8c98cb11bc3575079f8bf76ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Opens the gripper paddles.  <a href="#a23c923a8c98cb11bc3575079f8bf76ea">More...</a><br /></td></tr>
<tr class="separator:a23c923a8c98cb11bc3575079f8bf76ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e8196b7cd6e2c9308617b0cf7176258"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a8e8196b7cd6e2c9308617b0cf7176258">gripperDeploy</a> (void)</td></tr>
<tr class="memdesc:a8e8196b7cd6e2c9308617b0cf7176258"><td class="mdescLeft">&#160;</td><td class="mdescRight">Puts the gripper in a deployed position, ready for use.  <a href="#a8e8196b7cd6e2c9308617b0cf7176258">More...</a><br /></td></tr>
<tr class="separator:a8e8196b7cd6e2c9308617b0cf7176258"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a44482f3fa21825f4616f9779c1692449"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a44482f3fa21825f4616f9779c1692449">gripperHalt</a> (void)</td></tr>
<tr class="memdesc:a44482f3fa21825f4616f9779c1692449"><td class="mdescLeft">&#160;</td><td class="mdescRight">Halts the lift and the gripper paddles.  <a href="#a44482f3fa21825f4616f9779c1692449">More...</a><br /></td></tr>
<tr class="separator:a44482f3fa21825f4616f9779c1692449"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56a8e56071382eb9c1cc86ede1d4106c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a56a8e56071382eb9c1cc86ede1d4106c">gripperStore</a> (void)</td></tr>
<tr class="memdesc:a56a8e56071382eb9c1cc86ede1d4106c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Puts the gripper in a storage position.  <a href="#a56a8e56071382eb9c1cc86ede1d4106c">More...</a><br /></td></tr>
<tr class="separator:a56a8e56071382eb9c1cc86ede1d4106c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf53e2d36b67a5a098543b4905d58932"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#adf53e2d36b67a5a098543b4905d58932">gripPressure</a> (int mSecIntervals)</td></tr>
<tr class="memdesc:adf53e2d36b67a5a098543b4905d58932"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the amount of pressure the gripper applies.  <a href="#adf53e2d36b67a5a098543b4905d58932">More...</a><br /></td></tr>
<tr class="separator:adf53e2d36b67a5a098543b4905d58932"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae737b61c3c0dede412d9a87c00868a80"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#ae737b61c3c0dede412d9a87c00868a80">gripStop</a> (void)</td></tr>
<tr class="memdesc:ae737b61c3c0dede412d9a87c00868a80"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stops the gripper paddles.  <a href="#ae737b61c3c0dede412d9a87c00868a80">More...</a><br /></td></tr>
<tr class="separator:ae737b61c3c0dede412d9a87c00868a80"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac3b91f827be759867ab1b67f008f9107"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#ac3b91f827be759867ab1b67f008f9107">isGripMoving</a> (void) const </td></tr>
<tr class="memdesc:ac3b91f827be759867ab1b67f008f9107"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the gripper paddles are moving.  <a href="#ac3b91f827be759867ab1b67f008f9107">More...</a><br /></td></tr>
<tr class="separator:ac3b91f827be759867ab1b67f008f9107"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaa3a54df39a3cc0cae5d5e3ad985ad2f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#aaa3a54df39a3cc0cae5d5e3ad985ad2f">isLiftMaxed</a> (void) const </td></tr>
<tr class="memdesc:aaa3a54df39a3cc0cae5d5e3ad985ad2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the state of the lift.  <a href="#aaa3a54df39a3cc0cae5d5e3ad985ad2f">More...</a><br /></td></tr>
<tr class="separator:aaa3a54df39a3cc0cae5d5e3ad985ad2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc9a52a57a1a963cb1e6b5be0323ddeb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#acc9a52a57a1a963cb1e6b5be0323ddeb">isLiftMoving</a> (void) const </td></tr>
<tr class="memdesc:acc9a52a57a1a963cb1e6b5be0323ddeb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the lift is moving.  <a href="#acc9a52a57a1a963cb1e6b5be0323ddeb">More...</a><br /></td></tr>
<tr class="separator:acc9a52a57a1a963cb1e6b5be0323ddeb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5ef745b23d44796ab81428a08eb8da8a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a5ef745b23d44796ab81428a08eb8da8a">liftCarry</a> (int mSecIntervals)</td></tr>
<tr class="memdesc:a5ef745b23d44796ab81428a08eb8da8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Raises the lift by a given amount of time.  <a href="#a5ef745b23d44796ab81428a08eb8da8a">More...</a><br /></td></tr>
<tr class="separator:a5ef745b23d44796ab81428a08eb8da8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab858d73d857c1d7367c5e8bee237ee82"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#ab858d73d857c1d7367c5e8bee237ee82">liftDown</a> (void)</td></tr>
<tr class="memdesc:ab858d73d857c1d7367c5e8bee237ee82"><td class="mdescLeft">&#160;</td><td class="mdescRight">Lowers the lift to the bottom.  <a href="#ab858d73d857c1d7367c5e8bee237ee82">More...</a><br /></td></tr>
<tr class="separator:ab858d73d857c1d7367c5e8bee237ee82"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af05654e6450fe98fcf7ca97dc239dcc1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#af05654e6450fe98fcf7ca97dc239dcc1">liftStop</a> (void)</td></tr>
<tr class="memdesc:af05654e6450fe98fcf7ca97dc239dcc1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stops the lift.  <a href="#af05654e6450fe98fcf7ca97dc239dcc1">More...</a><br /></td></tr>
<tr class="separator:af05654e6450fe98fcf7ca97dc239dcc1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf6831c4e2a8105459e60e5e4bf4d4be"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#adf6831c4e2a8105459e60e5e4bf4d4be">liftUp</a> (void)</td></tr>
<tr class="memdesc:adf6831c4e2a8105459e60e5e4bf4d4be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Raises the lift to the top.  <a href="#adf6831c4e2a8105459e60e5e4bf4d4be">More...</a><br /></td></tr>
<tr class="separator:adf6831c4e2a8105459e60e5e4bf4d4be"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9146d316254173bad9c81a28d3f86efa"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9146d316254173bad9c81a28d3f86efa"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a9146d316254173bad9c81a28d3f86efa">logState</a> (void) const </td></tr>
<tr class="memdesc:a9146d316254173bad9c81a28d3f86efa"><td class="mdescLeft">&#160;</td><td class="mdescRight">logs the gripper state <br /></td></tr>
<tr class="separator:a9146d316254173bad9c81a28d3f86efa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd00cb31493d34bf569f116eb9220733"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afd00cb31493d34bf569f116eb9220733"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#afd00cb31493d34bf569f116eb9220733">packetHandler</a> (<a class="el" href="classArRobotPacket.html">ArRobotPacket</a> *packet)</td></tr>
<tr class="memdesc:afd00cb31493d34bf569f116eb9220733"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parses the gripper packet. <br /></td></tr>
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<tr class="memitem:a3d92ace8371afdbf2ef5810321b46064"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a3d92ace8371afdbf2ef5810321b46064">setType</a> (int type)</td></tr>
<tr class="memdesc:a3d92ace8371afdbf2ef5810321b46064"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the type of the gripper.  <a href="#a3d92ace8371afdbf2ef5810321b46064">More...</a><br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html#a0def6f8d0700d45d12ada89a95c00791">~ArGripper</a> ()</td></tr>
<tr class="memdesc:a0def6f8d0700d45d12ada89a95c00791"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
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<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArGripper.html">ArGripper</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myConnectCB</b></td></tr>
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unsigned char&#160;</td><td class="memItemRight" valign="bottom"><b>myGraspTime</b></td></tr>
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<a class="el" href="classArTime.html">ArTime</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myLastDataTime</b></td></tr>
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<a class="el" href="classArRetFunctor1C.html">ArRetFunctor1C</a>&lt; bool, <a class="el" href="classArGripper.html">ArGripper</a>, <a class="el" href="classArRobotPacket.html">ArRobotPacket</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myPacketHandlerCB</b></td></tr>
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<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myRobot</b></td></tr>
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unsigned char&#160;</td><td class="memItemRight" valign="bottom"><b>myState</b></td></tr>
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unsigned char&#160;</td><td class="memItemRight" valign="bottom"><b>mySwitches</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myType</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Provides an interface to the Pioneer gripper device. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="gripperExample_8cpp-example.html#_a0">gripperExample.cpp</a>.</dd>
</dl></div><h2 class="groupheader">Member Enumeration Documentation</h2>
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          <td class="memname">enum <a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368">ArGripper::Type</a></td>
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<p>These are the types for the gripper. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a class="anchor" id="a565fcee58e47e92596e472c34f359368a74fbaa2ae0bcab24136ea7d6db3a7897"></a>QUERYTYPE&#160;</td><td class="fielddoc">
<p>Finds out what type from the robot, default. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a565fcee58e47e92596e472c34f359368a2ecbc5944c1ea48a2f9676793ca96243"></a>GENIO&#160;</td><td class="fielddoc">
<p>Uses general IO. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a565fcee58e47e92596e472c34f359368a2aa4f32bf4b551947ea158e00e8be4f2"></a>USERIO&#160;</td><td class="fielddoc">
<p>Uses the user IO. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a565fcee58e47e92596e472c34f359368a689386fc14c0c100e52a01b494e843e0"></a>GRIPPAC&#160;</td><td class="fielddoc">
<p>Uses a packet requested from the robot. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a565fcee58e47e92596e472c34f359368ae1f5be72993ec3d941480086a6948e57"></a>NOGRIPPER&#160;</td><td class="fielddoc">
<p>There isn't a gripper. </p>
</td></tr>
</table>

</div>
</div>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td>(</td>
          <td class="paramtype"><a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td>
          <td class="paramname"><em>robot</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>gripperType</em> = <code><a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368a74fbaa2ae0bcab24136ea7d6db3a7897">QUERYTYPE</a></code>&#160;</td>
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<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">robot</td><td>The robot this gripper is attached to </td></tr>
    <tr><td class="paramname">gripperType</td><td>How to communicate with the gripper: see <a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368" title="These are the types for the gripper. ">ArGripper::Type</a>. The default, QUERYTYPE, will work with most robot configurations with a recent firmware version. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="groupheader">Member Function Documentation</h2>
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<p>Returns the state of the gripper's breakbeams. </p>
<dl class="section return"><dt>Returns</dt><dd>0 if no breakbeams broken, 1 if inner breakbeam broken, 2 if outter breakbeam broken, 3 if both breakbeams broken </dd></dl>

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          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
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<p>Gets the grasp time. </p>
<p>If you are using this as anything other than GRIPPAC and you want to find out the grasp time again, just do a setType with QUERYTYPE and it will query the robot again and get the grasp time from the robot.</p>
<dl class="section return"><dt>Returns</dt><dd>the number of 20 MSec intervals the gripper will continue grasping for after both paddles are triggered </dd></dl>

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<p>Returns the state of the gripper paddles. </p>
<dl class="section return"><dt>Returns</dt><dd>0 if gripper paddles between open and closed, 1 if gripper paddles are open, 2 if gripper paddles are closed </dd></dl>

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          <td class="memname">long ArGripper::getMSecSinceLastPacket </td>
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          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Gets the number of mSec since the last gripper packet. </p>
<dl class="section return"><dt>Returns</dt><dd>the number of milliseconds since the last packet </dd></dl>

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          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
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<p>Returns the state of each gripper paddle. </p>
<dl class="section return"><dt>Returns</dt><dd>0 if no gripper paddles are triggered, 1 if the left paddle is triggered, 2 if the right paddle is triggered, 3 if both are triggered </dd></dl>

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          <td> const</td>
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<p>Gets the type of the gripper. </p>
<dl class="section return"><dt>Returns</dt><dd>the gripper type </dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArGripper.html#a565fcee58e47e92596e472c34f359368" title="These are the types for the gripper. ">Type</a> </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="gripperExample_8cpp-example.html#a30">gripperExample.cpp</a>.</dd>
</dl>
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          <td class="memname">bool ArGripper::gripClose </td>
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          <td class="paramname"></td><td>)</td>
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<p>Closes the gripper paddles. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="gripperExample_8cpp-example.html#a18">gripperExample.cpp</a>.</dd>
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          <td class="paramname"></td><td>)</td>
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<p>Opens the gripper paddles. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="gripperExample_8cpp-example.html#a19">gripperExample.cpp</a>.</dd>
</dl>
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          <td class="memname">bool ArGripper::gripperDeploy </td>
          <td>(</td>
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          <td class="paramname"></td><td>)</td>
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<p>Puts the gripper in a deployed position, ready for use. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>

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<p>Halts the lift and the gripper paddles. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="gripperExample_8cpp-example.html#a17">gripperExample.cpp</a>.</dd>
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          <td class="paramname"></td><td>)</td>
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<p>Puts the gripper in a storage position. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>

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          <td class="paramname"><em>mSecIntervals</em></td><td>)</td>
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<p>Sets the amount of pressure the gripper applies. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>

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<p>Stops the gripper paddles. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>

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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Returns true if the gripper paddles are moving. </p>
<dl class="section return"><dt>Returns</dt><dd>true if the gripper paddles are moving </dd></dl>

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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Returns the state of the lift. </p>
<dl class="section return"><dt>Returns</dt><dd>false if lift is between up and down, true is either all the way up or down </dd></dl>

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<p>Returns true if the lift is moving. </p>
<dl class="section return"><dt>Returns</dt><dd>true if the lift is moving </dd></dl>

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<p>Raises the lift by a given amount of time. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>

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<p>Lowers the lift to the bottom. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="gripperExample_8cpp-example.html#a16">gripperExample.cpp</a>.</dd>
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          <td class="memname">bool ArGripper::liftStop </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
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<p>Stops the lift. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>

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          <td class="memname">bool ArGripper::liftUp </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
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<p>Raises the lift to the top. </p>
<dl class="section return"><dt>Returns</dt><dd>whether the command was sent to the robot or not </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="gripperExample_8cpp-example.html#a15">gripperExample.cpp</a>.</dd>
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          <td class="memname">void ArGripper::setType </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>type</em></td><td>)</td>
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<p>Sets the type of the gripper. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">type</td><td>the type of gripper to set it to </td></tr>
  </table>
  </dd>
</dl>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArGripper.h</li>
<li>ArGripper.cpp</li>
</ul>
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